対称彩バイラテラルサーボ機構における伝達誤差の補償

概要

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We have two types of the bilateral servo mechanisms utilized to force reaction type manipulater. The simple symmetry type has the larger transfer deviation. The force feedback type with the smaller transfer deviation needs troublesome force sensing devices. This paper describes the simple compensation method of transfer deviation on the symmetry-type. We found that the transfer deviation of the torque decreases by means of subtracting output of tachometer generator through PD circuit from the driving input of the opposite motor. The system is unstable when the gain constants in compensation circuits are over the limits, which are decided to equivalent mechanical inertia moment and viscous damping factor. The transfer deviation of the compensated symmetry type system is near to that of the force feedback system.
公益社団法人精密工学会の論文
1989-04-05